WO2016155310A1 - Method and device for calibrating positioning and orientation system of coal mining machine based on laser scan - Google Patents

Method and device for calibrating positioning and orientation system of coal mining machine based on laser scan Download PDF

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WO2016155310A1
WO2016155310A1 PCT/CN2015/093625 CN2015093625W WO2016155310A1 WO 2016155310 A1 WO2016155310 A1 WO 2016155310A1 CN 2015093625 W CN2015093625 W CN 2015093625W WO 2016155310 A1 WO2016155310 A1 WO 2016155310A1
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shearer
rotary table
laser signal
signal receiving
laser
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PCT/CN2015/093625
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French (fr)
Chinese (zh)
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刘万里
杨滨海
赵勇涛
王世博
张务果
张智喆
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中国矿业大学
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Publication of WO2016155310A1 publication Critical patent/WO2016155310A1/en
Priority to ZA2016/08103A priority Critical patent/ZA201608103B/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass

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  • the invention relates to a coal mining machine positioning method and device, in particular to a laser scanning based coal mining machine positioning and positioning system calibration method and device.
  • Coal is still the main energy source in China, but due to the harsh and complicated underground environment, the level of automation of China's coal industry equipment is relatively low, and China's coal industry has frequent accidents.
  • Achieving unmanned and automated mechanized mining face is an effective way to solve this problem.
  • it is especially important to achieve precise positioning and positioning of the shearer.
  • the existing positioning method is used to achieve the positioning and positioning of the shearer in the range of several hundred meters, and the overall positioning accuracy is generally not high. Therefore, it is necessary to use some means to calibrate the position of the shearer at the end.
  • the main methods of the positioning and positioning calibration methods of the shearer are: orbital odometer method, infrared method, ultrasonic reflection method, inertial navigation method and wireless sensor network method.
  • the orbital odometer method has a large error, and the gear counting method has a cumulative error;
  • the infrared method has insufficient protection against the bottom plate, the dust concentration is too large, and the occlusion is such that the receiver does not receive the infrared signal;
  • the reflection method is mainly due to non-line of sight, which leads to low calibration accuracy.
  • the inertial navigation method needs to be improved due to the drift of the inertial device output over time, the integration operation will cause the error to accumulate, and the initialization time of the system is slightly longer. There is a need for a calibration method that can cope with high concentrations of dust downhole and with less error.
  • the object of the present invention is to provide a calibration method and a device for positioning and positioning of a shearer based on laser scanning, and to solve the problem of position and orientation calibration of a coal mining machine under a coal mining face.
  • a laser scanning based shearer positioning and positioning system comprises: a rotary table system, a laser signal receiving module, a data processing storage module and a hydraulic support; mounting a laser on the shearer a signal receiving module and a data processing storage module, the laser signal receiving module is not less than two, recording the relative position of each laser signal receiving module and the shearer; the data processing storage module laser signal receiving module is connected; rotating The platform system is installed on the hydraulic support, and the distance between the two hydraulic supports is less than 50m; the electronic level is placed between the hydraulic supports on which the rotary table system is mounted on the fully mechanized mining face, and is determined to be placed in the hydraulic pressure by using the electronic level
  • the relative position of the rotary table system on the support determines the position coordinates of each rotary table system in the entire shearer positioning system; the rotary table system operates, the laser signal receiving module receives the laser signal and the infrared light signal, and receives the laser signal
  • the data processing storage module connected to the
  • the rotary table system comprises: a laser transmitter, a rotary table, a servo motor, an infrared light transmitter, a wireless power transmission module, a large transmission gear and a small transmission gear; the laser transmitter is mounted on the rotary table, and the wireless power transmission coil is mounted on the rotation At the bottom of the platform, the power conversion module and the level are respectively installed on the servo motor.
  • the large transmission gear is mounted on the rotating shaft of the servo motor.
  • the small transmission gear is mounted on the bearing of the rotary table. The large transmission gear and the small transmission gear mesh with each other, and the infrared light is emitted.
  • the unit is mounted with the top of the rotating table.
  • the calibration method of the coal mining machine positioning and positioning system based on laser scanning includes the following steps:
  • Two rotary table system servo motors drive the rotary table through the transmission gears, the laser transmitter emits the fan surface laser, and the laser signal receiving module receives the first sector laser signal, and records the time t1, t1' at this time, the laser signal
  • the receiving module receives the second sector laser signal, records the time t2, t2' at this time, the rotating table returns to the actual position, the infrared light emitter emits infrared light, and the laser signal receiving module receives the infrared light signal, and records the current Time t3, t3';
  • the data processing storage module processes the recorded time signal into position signal coordinates through the system algorithm and the set servo motor speed of 500r/min, and stores the position information, and the position is transmitted through the data transmission module. Coordinate information is transmitted to the shearer control center;
  • the laser signal receiving module and the data processing storage module are installed on the shearer body, and are installed under the selected hydraulic support top beam according to the principle that the distance between the two rotating tables is less than 50 m.
  • the rotary table system enables the laser signal receiving module mounted on the shearer to receive the laser signal of the rotary table system at the end by enhancing the energy of the laser within the effective distance; and can move and rotate with the movement of the shearer
  • the platform system calculates the relative position of the rotating rotary table system through the electronic level, and converts it to the initial position coordinate of the system; through the positioning algorithm, the missing detection condition is eliminated, and the overall positioning accuracy is improved.
  • the invention can be applied to the calibration of the shearer position at the end of the fully mechanized mining face, and the time signal of each laser signal arrival is the angle measuring technique, and the distance is calculated by the relative position of the adjacent rotating table, and the positioning accuracy is stable.
  • the sensor has a flexible deployment method and is easy to install.
  • 1 is a schematic view showing the positional alignment structure of the coal mining machine of the present invention on the fully mechanized mining face.
  • FIG. 2 is a schematic view showing the relative positional positioning structure of the rotary table system by using the electronic level ruler of the present invention.
  • Figure 3 is a schematic view showing the structure of a rotary table system of the present invention.
  • Figure 4 is a block diagram of the system of the present invention.
  • a device for positioning a position determining system based on laser scanning includes: a rotary table system 1, a laser signal receiving module 2, a data processing storage module 3, and a hydraulic support 5;
  • the laser signal receiving module 2 and the data processing storage module 3 are mounted on the coal machine 4, and the laser signal receiving module 2 is not less than two, and the relative position of each laser signal receiving module 2 and the shearer 4 is recorded;
  • the processing module 3 is connected to the laser signal receiving module 2;
  • the rotary table system is mounted on the hydraulic support 1, the distance between the two hydraulic supports is less than 50 m;
  • the electronic level 13 is placed on the fully mechanized face and two rotary table systems are installed Between the hydraulic supports, the relative position of the rotary table system that has been placed on the hydraulic support is determined by the electronic level 13 to determine the position coordinates of each rotary table system in the entire shearer positioning system; the rotary table system works, the laser
  • the signal receiving module receives the laser signal and the infrared light signal, and the data processing storage
  • the rotary table system includes: a laser emitter 6, a rotary table 7, a servo motor 8, an infrared light emitter 9, a wireless power transmission module 10, a large transmission gear and a small transmission gear; the laser transmitter 6 is mounted on the rotary table 7.
  • the wireless power transmission coil is installed at the bottom of the rotary table 7, the power conversion module 12 and the level 11 are respectively mounted on the two sides of the servo motor 8, the large transmission gear is mounted on the rotating shaft of the servo motor 8, and the small transmission gear is mounted on the bearing of the rotary table 7,
  • the large transmission gear and the small transmission gear mesh with each other, and the infrared light emitter 9 is mounted on the top of the rotary table.
  • the calibration method of the coal mining machine positioning and positioning system based on laser scanning includes the following steps:
  • Two rotary table system servo motor 8 drives the rotary table through the transmission gear, the laser emitter emits the fan surface laser, and the laser signal receiving module receives the first sector laser signal, and records the time t1, t1' at this time.
  • the signal receiving module receives the second sector laser signal, records the time t2, t2' at this time, the rotating table returns to the actual position, the infrared light emitter emits infrared light, and the laser signal receiving module receives the infrared light signal, and records Time t3, t3' at this time;
  • the data processing storage module processes the recorded time signal into position signal coordinates through the system algorithm and the set servo motor speed of 500r/min, and stores the position information, and the position is transmitted through the data transmission module. Coordinate information is transmitted to the shearer control center;

Abstract

A method and device for calibrating the positioning and orientation system of a coal mining machine (4) based on laser scan, which belong to a method and device for positioning the coal mining machine (4).The device comprises mounting laser signal receiving modules (2) and a data processing storage module (3) on the coal mining machine (4), wherein the number of the laser signal receiving modules (2) is no less than two, which record a relative location between each laser signal receiving module (2) and the coal mining machine (4);the data processing storage module (3) and the laser signal receiving module (2) are connected; and a rotary stage system (1) is mounted on hydraulic supports (5), and the distance between two hydraulic supports (5) is less than 50 m. The method is based on laser scan technology, in which a servo motor (8) drives a rotary stage (7), lasers scan the surrounding environment, the laser signal receiving module (2) receives a laser signal and records time information, and the data processing storage module (3) calculates location and orientation information about the coal mining machine (4) at this moment, and transmits the position and orientation information about the coal mining machine (4) to a coal mining machine control centre via a data transmission module. By means of this technical solution, a centimetre-level scan precision can be achieved in the range of 50 meters, and the requirement for the position and orientation precision of the coal mining machine (4) is fully satisfied.

Description

基于激光扫描的采煤机定位定姿系统的校准方法及装置Calibration method and device for coal mining machine positioning and positioning system based on laser scanning 技术领域Technical field
本发明涉及一种采煤机定位方法及装置，特别是一种基于激光扫描的采煤机定位定姿系统的校准方法及装置。The invention relates to a coal mining machine positioning method and device, in particular to a laser scanning based coal mining machine positioning and positioning system calibration method and device.
技术背景technical background
煤炭依然是我国现在的主题能源，但是由于地下环境恶劣、复杂，我国煤炭行业装备的自动化程度水平比较低等原因，我国煤炭行业事故频发。Coal is still the main energy source in China, but due to the harsh and complicated underground environment, the level of automation of China's coal industry equipment is relatively low, and China's coal industry has frequent accidents.
实现综采面无人化，自动化，是解决这一问题的有效途径，其中，对采煤机实现精确定位定姿尤为重要。利用现有的手段对采煤机实现定位定姿在动辄几百米的范围内整体定位精度普遍不高，因此，在端头处利用一些手段对采煤机的位姿进行校准很有必要。目前已有的采煤机定位定姿校准方法主要方法为：轨道里程计法、红外法、超声波反射法、惯性导航法以及无线传感网络法。Achieving unmanned and automated mechanized mining face is an effective way to solve this problem. Among them, it is especially important to achieve precise positioning and positioning of the shearer. The existing positioning method is used to achieve the positioning and positioning of the shearer in the range of several hundred meters, and the overall positioning accuracy is generally not high. Therefore, it is necessary to use some means to calibrate the position of the shearer at the end. At present, the main methods of the positioning and positioning calibration methods of the shearer are: orbital odometer method, infrared method, ultrasonic reflection method, inertial navigation method and wireless sensor network method.
上述方法中，轨道里程计法存在误差较大，齿轮计数法存在累计误差的问题；红外法由于底板其防护不平整，粉尘浓度过大，遮挡等问题，使得接收器接收不到红外信号；超声波反射法主要由于非视距的原因，导致校准精度偏低；惯性导航法由于惯性器件输出随时间漂移，积分运算会造成误差的累积，系统的初始化的时间稍长等原因仍需改进；因此，需要一种能够应对井下高浓度粉尘，并且误差更小的校准方法。Among the above methods, the orbital odometer method has a large error, and the gear counting method has a cumulative error; the infrared method has insufficient protection against the bottom plate, the dust concentration is too large, and the occlusion is such that the receiver does not receive the infrared signal; The reflection method is mainly due to non-line of sight, which leads to low calibration accuracy. The inertial navigation method needs to be improved due to the drift of the inertial device output over time, the integration operation will cause the error to accumulate, and the initialization time of the system is slightly longer. There is a need for a calibration method that can cope with high concentrations of dust downhole and with less error.
发明内容Summary of the invention
技术问题：本发明的目的在于提供一种基于激光扫描的采煤机定位定姿的校准方法及装置，解决煤矿井下综采面下采煤机位姿校准问题。Technical Problem: The object of the present invention is to provide a calibration method and a device for positioning and positioning of a shearer based on laser scanning, and to solve the problem of position and orientation calibration of a coal mining machine under a coal mining face.
技术方案：本发明的目是这样实现的：基于激光扫描的采煤机定位定姿系统的装置包括：旋转台系统、激光信号接收模块、数据处理存储模块和液压支架；在采煤机上安装激光信号接收模块和数据处理存储模块，所述的激光信号接收模块不少于两个，记录下每个激光信号接收模块与采煤机的相对位置；数据处理存储模块激光信号接收模块相连接；旋转台系统安装在液压支架上，两个液压支架之间的距离小于50m；将电子水平尺安置于综采面两个安装有旋转台系统的液压支架之间，利用电子水平尺确定已安置于液压支架上的旋转台系统的相对位置，确定每个旋转台系统在整个采煤机定位系统中的位置坐标；旋转台系统工作，激光信号接收模块接收到激光信号以及红外光信号，与激光信号接收模块相连接的数据处理存储模接对信号进行处理与存储，通过数据传输模块，传输给采煤机控制中心。Technical Solution: The object of the present invention is achieved by: a laser scanning based shearer positioning and positioning system comprises: a rotary table system, a laser signal receiving module, a data processing storage module and a hydraulic support; mounting a laser on the shearer a signal receiving module and a data processing storage module, the laser signal receiving module is not less than two, recording the relative position of each laser signal receiving module and the shearer; the data processing storage module laser signal receiving module is connected; rotating The platform system is installed on the hydraulic support, and the distance between the two hydraulic supports is less than 50m; the electronic level is placed between the hydraulic supports on which the rotary table system is mounted on the fully mechanized mining face, and is determined to be placed in the hydraulic pressure by using the electronic level The relative position of the rotary table system on the support determines the position coordinates of each rotary table system in the entire shearer positioning system; the rotary table system operates, the laser signal receiving module receives the laser signal and the infrared light signal, and receives the laser signal The data processing storage module connected to the module processes and stores the signal through According to a transmission module for transmission to the control center shearer.
所述的旋转台系统包括：激光发射器、旋转台、伺服电机、红外光发射器、无线输电模块、大传动齿轮和小传动齿轮；激光发射器安装于旋转台上，无线输电线圈安装于旋转台底部，电源转换模块与水平仪分别安装于伺服电机两边，大传动齿轮安装与伺服电机的转轴上，小传动齿轮安装于旋转台的轴承上，大传动齿轮与小传动齿轮相互啮合，红外光发射器安装与旋转台顶部。 The rotary table system comprises: a laser transmitter, a rotary table, a servo motor, an infrared light transmitter, a wireless power transmission module, a large transmission gear and a small transmission gear; the laser transmitter is mounted on the rotary table, and the wireless power transmission coil is mounted on the rotation At the bottom of the platform, the power conversion module and the level are respectively installed on the servo motor. The large transmission gear is mounted on the rotating shaft of the servo motor. The small transmission gear is mounted on the bearing of the rotary table. The large transmission gear and the small transmission gear mesh with each other, and the infrared light is emitted. The unit is mounted with the top of the rotating table.
基于激光扫描的采煤机定位定姿系统的校准方法包括如下步骤：The calibration method of the coal mining machine positioning and positioning system based on laser scanning includes the following steps:
(1)在采煤机上安装大于两个的激光信号接收模块，记录下每个激光信号接收模块与采煤机的相对位置；在采煤机上安装数据处理存储模块，并与安装于采煤机上的激光信号接收模块相连接；按照两个旋转台系统之间的距离小于50m的原则将旋转台安置于液压支架上；利用电子水平尺确定已安置于液压支架上的旋转台系统的相对位置，确定每个旋转台系统在整个采煤机定位系统中的位置坐标；(1) Install more than two laser signal receiving modules on the shearer, record the relative position of each laser signal receiving module and the shearer; install a data processing storage module on the shearer, and install it on the shearer The laser signal receiving module is connected; the rotating table is placed on the hydraulic support according to the principle that the distance between the two rotary table systems is less than 50 m; and the relative position of the rotary table system that has been placed on the hydraulic support is determined by using an electronic level gauge, Determining the position coordinates of each rotary table system in the entire shearer positioning system;
(2)两个旋转台系统伺服电机通过传动齿轮带动旋转台，激光发射器发射扇面激光，激光信号接收模块接收到第一个扇面激光信号，记录下此时的时间t1、t1’,激光信号接收模块接收到第二个扇面激光信号，记录下此时的时间t2、t2’,旋转台回到其实位置，红外光发射器发射红外光，激光信号接收模块接收到红外光信号，记录下此时的时间t3、t3’；(2) Two rotary table system servo motors drive the rotary table through the transmission gears, the laser transmitter emits the fan surface laser, and the laser signal receiving module receives the first sector laser signal, and records the time t1, t1' at this time, the laser signal The receiving module receives the second sector laser signal, records the time t2, t2' at this time, the rotating table returns to the actual position, the infrared light emitter emits infrared light, and the laser signal receiving module receives the infrared light signal, and records the current Time t3, t3';
(3)数据处理存储模块通过系统算法，以及所设定的伺服电机的转速500r/min，将记录下的时间信号处理为位置信号坐标，并且将位置信息进行存储，通过数据传输模块，将位置坐标信息传输给采煤机控制中心；(3) The data processing storage module processes the recorded time signal into position signal coordinates through the system algorithm and the set servo motor speed of 500r/min, and stores the position information, and the position is transmitted through the data transmission module. Coordinate information is transmitted to the shearer control center;
(4)判断采煤机在端头处是否在至少在两个旋转台系统的激光发射器照射范围内，如果是，则循环执行步骤(2)-(3)，否则，操作步骤(5)；(4) judging whether the shearer is at the end of the laser emitter illumination range of at least two rotary table systems, and if so, performing steps (2)-(3) cyclically, otherwise, operation step (5) ;
(5)将采煤机纵向移动方向的反方向的第一个旋转台系统向采煤机纵向移动方向移动，该旋转台系统移动后的位置与原采煤机纵向移动方向的第一个旋转台系统的距离小于50m，利用电子水平尺确定出现采煤机纵向移动方向的第一、第二个旋转台系统的相对位置，同时转换到整个定位定姿系统中的位置坐标；(5) moving the first rotary table system in the opposite direction of the longitudinal direction of the shearer to the longitudinal direction of the shearer, the position of the rotary table system after moving and the first rotation of the longitudinal direction of the original shearer The distance of the platform system is less than 50m, and the relative position of the first and second rotary table systems in the longitudinal direction of the shearer is determined by the electronic level, and the position coordinates in the entire positioning and positioning system are simultaneously converted;
(6)系统继续工作，循环执行步骤(2)-(5)，采煤机控制中心实时获取采煤机的位姿信息。(6) The system continues to work, and steps (2)-(5) are executed cyclically, and the shearer control center obtains the position and posture information of the shearer in real time.
有益效果：由于采用了上述方案，在采煤机机身上安装激光信号接收模块以及数据处理存储模块，按照两个旋转台之间的距离小于50m的原则在选定的液压支架顶梁下安装旋转台系统，通过在有效距离内增强激光的能量，使得安装在采煤机上的激光信号接收模块在端头处能够接收到旋转台系统的激光信号；能够随着采煤机的移动，移动旋转台系统，通过电子水平尺，计算出移动后的旋转台系统的相对位置，换算到系统的初始位置坐标；通过定位算法，排除漏检情况，提高整体定位精度。Beneficial effects: Due to the above scheme, the laser signal receiving module and the data processing storage module are installed on the shearer body, and are installed under the selected hydraulic support top beam according to the principle that the distance between the two rotating tables is less than 50 m. The rotary table system enables the laser signal receiving module mounted on the shearer to receive the laser signal of the rotary table system at the end by enhancing the energy of the laser within the effective distance; and can move and rotate with the movement of the shearer The platform system calculates the relative position of the rotating rotary table system through the electronic level, and converts it to the initial position coordinate of the system; through the positioning algorithm, the missing detection condition is eliminated, and the overall positioning accuracy is improved.
优点：该发明能够适用于综采面端头处采煤机位姿的校准，以各个激光信号到达的时间信号为测角技术，以相邻旋转台的相对位置计算距离，具有稳定的定位精度，而且传感器具有灵活的部署方式，安装方便。Advantages: The invention can be applied to the calibration of the shearer position at the end of the fully mechanized mining face, and the time signal of each laser signal arrival is the angle measuring technique, and the distance is calculated by the relative position of the adjacent rotating table, and the positioning accuracy is stable. And the sensor has a flexible deployment method and is easy to install.
附图说明DRAWINGS
图1是本发明的采煤机位于综采面位姿校准结构示意图。1 is a schematic view showing the positional alignment structure of the coal mining machine of the present invention on the fully mechanized mining face.
图2是本发明利用电子水平尺对旋转台系统相对位置定位结构示意图。2 is a schematic view showing the relative positional positioning structure of the rotary table system by using the electronic level ruler of the present invention.
图3是本发明的旋转台系统结构示意图。Figure 3 is a schematic view showing the structure of a rotary table system of the present invention.
图4是本发明的系统原理框图。 Figure 4 is a block diagram of the system of the present invention.
图中：1、旋转台系统；2、激光信号接收模块；3、数据处理存储模块；4、采煤机；5、液压支架；6、激光发射器；7、旋转台；8、伺服电机；9、红外光发射器；10、无线输电模块；11、水平仪；12、电源转换模块；13、电子水平尺。In the figure: 1, rotary table system; 2, laser signal receiving module; 3, data processing storage module; 4, coal mining machine; 5, hydraulic support; 6, laser transmitter; 7, rotating table; 8, servo motor; 9, infrared light transmitter; 10, wireless power transmission module; 11, level meter; 12, power conversion module; 13, electronic level.
具体实施方式detailed description
实施例1：在图1和图2中，基于激光扫描的采煤机定位定姿系统的装置包括：旋转台系统1、激光信号接收模块2、数据处理存储模块3和液压支架5；在采煤机4上安装激光信号接收模块2和数据处理存储模块3，所述的激光信号接收模块2不少于两个，记录下每个激光信号接收模块2与采煤机4的相对位置；数据处理存储模块3激光信号接收模块2相连接；旋转台系统安装在液压支架1上，两个液压支架之间的距离小于50m；将电子水平尺13安置于综采面两个安装有旋转台系统的液压支架之间，利用电子水平尺13确定已安置于液压支架上的旋转台系统的相对位置，确定每个旋转台系统在整个采煤机定位系统中的位置坐标；旋转台系统工作，激光信号接收模块接收到激光信号以及红外光信号，与激光信号接收模块相连接的数据处理存储模接对信号进行处理与存储，通过数据传输模块，传输给采煤机控制中心。Embodiment 1: In FIGS. 1 and 2, a device for positioning a position determining system based on laser scanning includes: a rotary table system 1, a laser signal receiving module 2, a data processing storage module 3, and a hydraulic support 5; The laser signal receiving module 2 and the data processing storage module 3 are mounted on the coal machine 4, and the laser signal receiving module 2 is not less than two, and the relative position of each laser signal receiving module 2 and the shearer 4 is recorded; The processing module 3 is connected to the laser signal receiving module 2; the rotary table system is mounted on the hydraulic support 1, the distance between the two hydraulic supports is less than 50 m; the electronic level 13 is placed on the fully mechanized face and two rotary table systems are installed Between the hydraulic supports, the relative position of the rotary table system that has been placed on the hydraulic support is determined by the electronic level 13 to determine the position coordinates of each rotary table system in the entire shearer positioning system; the rotary table system works, the laser The signal receiving module receives the laser signal and the infrared light signal, and the data processing storage module connected to the laser signal receiving module processes and stores the signal, and passes through According to a transmission module for transmission to the control center shearer.
所述的旋转台系统包括：激光发射器6、旋转台7、伺服电机8、红外光发射器9、无线输电模块10、大传动齿轮和小传动齿轮；激光发射器6安装于旋转台7上，无线输电线圈安装于旋转台7底部，电源转换模块12与水平仪11分别安装于伺服电机8两边，大传动齿轮安装与伺服电机8的转轴上，小传动齿轮安装于旋转台7的轴承上，大传动齿轮与小传动齿轮相互啮合，红外光发射器9安装与旋转台顶部。The rotary table system includes: a laser emitter 6, a rotary table 7, a servo motor 8, an infrared light emitter 9, a wireless power transmission module 10, a large transmission gear and a small transmission gear; the laser transmitter 6 is mounted on the rotary table 7. The wireless power transmission coil is installed at the bottom of the rotary table 7, the power conversion module 12 and the level 11 are respectively mounted on the two sides of the servo motor 8, the large transmission gear is mounted on the rotating shaft of the servo motor 8, and the small transmission gear is mounted on the bearing of the rotary table 7, The large transmission gear and the small transmission gear mesh with each other, and the infrared light emitter 9 is mounted on the top of the rotary table.
基于激光扫描的采煤机定位定姿系统的校准方法包括如下步骤：The calibration method of the coal mining machine positioning and positioning system based on laser scanning includes the following steps:
(1)在采煤机4上安装大于两个的激光信号接收模块2，记录下每个激光信号接收模块与采煤机的相对位置；在采煤机上安装数据处理存储模块3，并与安装于采煤机上的激光信号接收模块相连接；按照两个旋转台系统1之间的距离小于50m的原则将旋转台安置于液压支架上；利用电子水平尺确定已安置于液压支架上的旋转台系统的相对位置，确定每个旋转台系统在整个采煤机定位系统中的位置坐标；(1) Install more than two laser signal receiving modules 2 on the shearer 4, record the relative position of each laser signal receiving module and the shearer; install the data processing storage module 3 on the shearer, and install The laser signal receiving module on the shearer is connected; the rotating table is placed on the hydraulic support according to the principle that the distance between the two rotary table systems 1 is less than 50 m; the rotary table that has been placed on the hydraulic support is determined by the electronic level The relative position of the system determines the position coordinates of each rotary table system in the entire shearer positioning system;
(2)两个旋转台系统伺服电机8通过传动齿轮带动旋转台，激光发射器发射扇面激光，激光信号接收模块接收到第一个扇面激光信号，记录下此时的时间t1、t1’,激光信号接收模块接收到第二个扇面激光信号，记录下此时的时间t2、t2’,旋转台回到其实位置，红外光发射器发射红外光，激光信号接收模块接收到红外光信号，记录下此时的时间t3、t3’；(2) Two rotary table system servo motor 8 drives the rotary table through the transmission gear, the laser emitter emits the fan surface laser, and the laser signal receiving module receives the first sector laser signal, and records the time t1, t1' at this time. The signal receiving module receives the second sector laser signal, records the time t2, t2' at this time, the rotating table returns to the actual position, the infrared light emitter emits infrared light, and the laser signal receiving module receives the infrared light signal, and records Time t3, t3' at this time;
(3)数据处理存储模块通过系统算法，以及所设定的伺服电机的转速500r/min，将记录下的时间信号处理为位置信号坐标，并且将位置信息进行存储，通过数据传输模块，将位置坐标信息传输给采煤机控制中心；(3) The data processing storage module processes the recorded time signal into position signal coordinates through the system algorithm and the set servo motor speed of 500r/min, and stores the position information, and the position is transmitted through the data transmission module. Coordinate information is transmitted to the shearer control center;
(4)判断采煤机在端头处是否在至少在两个旋转台系统的激光发射器照射范围内，如果是，则循环执行步骤(2)-(3)，否则，操作步骤(5)； (4) judging whether the shearer is at the end of the laser emitter illumination range of at least two rotary table systems, and if so, performing steps (2)-(3) cyclically, otherwise, operation step (5) ;
(5)将采煤机纵向移动方向的反方向的第一个旋转台系统向采煤机纵向移动方向移动，该旋转台系统移动后的位置与原采煤机纵向移动方向的第一个旋转台系统的距离小于50m，利用电子水平尺13确定出现采煤机纵向移动方向的第一、第二个旋转台系统的相对位置，同时转换到整个定位定姿系统中的位置坐标；(5) moving the first rotary table system in the opposite direction of the longitudinal direction of the shearer to the longitudinal direction of the shearer, the position of the rotary table system after moving and the first rotation of the longitudinal direction of the original shearer The distance of the platform system is less than 50m, and the relative position of the first and second rotary table systems in the longitudinal movement direction of the shearer is determined by the electronic level 13 and converted to the position coordinates in the entire positioning and positioning system;
(6)系统继续工作，循环执行步骤(2)-(5)，采煤机控制中心实时获取采煤机的位姿信息。 (6) The system continues to work, and steps (2)-(5) are executed cyclically, and the shearer control center obtains the position and posture information of the shearer in real time.

Claims (3)

  1. 一种基于激光扫描的采煤机定位定姿系统的校准装置，其特征是：基于激光扫描的采煤机定位定姿系统的装置包括：旋转台系统、激光信号接收模块、数据处理存储模块和液压支架；在采煤机上安装激光信号接收模块和数据处理存储模块，所述的激光信号接收模块不少于两个，记录下每个激光信号接收模块与采煤机的相对位置；数据处理存储模块激光信号接收模块相连接；旋转台系统安装在液压支架上，两个液压支架之间的距离小于50m；将电子水平尺安置于综采面两个安装有旋转台系统的液压支架之间，利用电子水平尺确定已安置于液压支架上的旋转台系统的相对位置，确定每个旋转台系统在整个采煤机定位系统中的位置坐标；旋转台系统工作，激光信号接收模块接收到激光信号以及红外光信号，与激光信号接收模块相连接的数据处理存储模接对信号进行处理与存储，通过数据传输模块，传输给采煤机控制中心。The invention relates to a calibration device for a coal mining machine positioning and positioning system based on laser scanning, characterized in that: the device for positioning and positioning the shearer based on laser scanning comprises: a rotary table system, a laser signal receiving module, a data processing storage module and a hydraulic support; a laser signal receiving module and a data processing storage module are installed on the shearer, the laser signal receiving module is not less than two, and the relative position of each laser signal receiving module and the shearer is recorded; data processing and storage The module laser signal receiving module is connected; the rotary table system is mounted on the hydraulic support, and the distance between the two hydraulic supports is less than 50 m; and the electronic level is placed between the hydraulic support on which the rotary table system is mounted on the fully mechanized mining face, Using the electronic level to determine the relative position of the rotary table system that has been placed on the hydraulic support, determine the position coordinates of each rotary table system in the entire shearer positioning system; the rotary table system works, the laser signal receiving module receives the laser signal And an infrared light signal, a data processing storage module pair connected to the laser signal receiving module Number for processing and storage, the data transmission module for transmission to the control center shearer.
  2. 根据权利要求1所述的基于激光扫描的采煤机定位定姿系统的校准装置，其特征是：所述的旋转台系统包括：激光发射器、旋转台、伺服电机、红外光发射器、无线输电模块、大传动齿轮和小传动齿轮；激光发射器安装于旋转台上，无线输电线圈安装于旋转台底部，电源转换模块与水平仪分别安装于伺服电机两边，大传动齿轮安装与伺服电机的转轴上，小传动齿轮安装于旋转台的轴承上，大传动齿轮与小传动齿轮相互啮合，红外光发射器安装与旋转台顶部。The calibration device for a laser scanning-based shearer positioning and positioning system according to claim 1, wherein the rotary table system comprises: a laser transmitter, a rotary table, a servo motor, an infrared light emitter, and a wireless device. Transmission module, large transmission gear and small transmission gear; the laser transmitter is mounted on the rotary table, the wireless transmission coil is installed on the bottom of the rotary table, the power conversion module and the level are respectively installed on the servo motor, the large transmission gear is installed and the rotation shaft of the servo motor Upper, small transmission gears are mounted on the bearings of the rotary table, the large transmission gears mesh with the small transmission gears, and the infrared light emitters are mounted on the top of the rotary table.
  3. 权利要求1所述的基于激光扫描的采煤机定位定姿系统的校准方法，其特征是：基于激光扫描的采煤机定位定姿系统的校准方法包括如下步骤：The calibration method of the laser scanning-based shearer positioning and positioning system according to claim 1, wherein the laser scanning-based shearing machine positioning and positioning system calibration method comprises the following steps:
    (1)在采煤机上安装大于两个的激光信号接收模块，记录下每个激光信号接收模块与采煤机的相对位置；在采煤机上安装数据处理存储模块，并与安装于采煤机上的激光信号接收模块相连接；按照两个旋转台系统之间的距离小于50m的原则将旋转台安置于液压支架上；利用电子水平尺确定已安置于液压支架上的旋转台系统的相对位置，确定每个旋转台系统在整个采煤机定位系统中的位置坐标；(1) Install more than two laser signal receiving modules on the shearer, record the relative position of each laser signal receiving module and the shearer; install a data processing storage module on the shearer, and install it on the shearer The laser signal receiving module is connected; the rotating table is placed on the hydraulic support according to the principle that the distance between the two rotary table systems is less than 50 m; and the relative position of the rotary table system that has been placed on the hydraulic support is determined by using an electronic level gauge, Determining the position coordinates of each rotary table system in the entire shearer positioning system;
    (2)两个旋转台系统伺服电机通过传动齿轮带动旋转台，激光发射器发射扇面激光，激光信号接收模块接收到第一个扇面激光信号，记录下此时的时间t1、t1’,激光信号接收模块接收到第二个扇面激光信号，记录下此时的时间t2、t2’,旋转台回到其实位置，红外光发射器发射红外光，激光信号接收模块接收到红外光信号，记录下此时的时间t3、t3’；(2) Two rotary table system servo motors drive the rotary table through the transmission gears, the laser transmitter emits the fan surface laser, and the laser signal receiving module receives the first sector laser signal, and records the time t1, t1' at this time, the laser signal The receiving module receives the second sector laser signal, records the time t2, t2' at this time, the rotating table returns to the actual position, the infrared light emitter emits infrared light, and the laser signal receiving module receives the infrared light signal, and records the current Time t3, t3';
    (3)数据处理存储模块通过系统算法，以及所设定的伺服电机的转速500r/min，将记录下的时间信号处理为位置信号坐标，并且将每个激光信号接收模块位置信息进行存储，并且数据处理存储模块通过每个激光信号接收模块的位置信息以及激光信号接收模块之间的相对位置计算出采煤机的姿态信息以及位置信息，通过数据传输模块，将姿态信息以及位置信息传输给采煤机控制中心； (3) The data processing storage module processes the recorded time signal into position signal coordinates by a system algorithm and the set servo motor speed of 500 r/min, and stores each laser signal receiving module position information, and The data processing storage module calculates the attitude information and the position information of the shearer through the position information of each laser signal receiving module and the relative position between the laser signal receiving modules, and transmits the attitude information and the position information to the mining system through the data transmission module. Coal machine control center;
    (4)判断采煤机在端头处是否在至少在两个旋转台系统的激光发射器照射范围内，如果是，则循环执行步骤(2)-(3)，否则，操作步骤(5)；(4) judging whether the shearer is at the end of the laser emitter illumination range of at least two rotary table systems, and if so, performing steps (2)-(3) cyclically, otherwise, operation step (5) ;
    (5)将采煤机纵向移动方向的反方向的第一个旋转台系统向采煤机纵向移动方向移动，该旋转台系统移动后的位置与原采煤机纵向移动方向的第一个旋转台系统的距离小于50m，利用电子水平尺确定出现采煤机纵向移动方向的第一、第二个旋转台系统的相对位置，同时转换到整个定位定姿系统中的位置坐标；(5) moving the first rotary table system in the opposite direction of the longitudinal direction of the shearer to the longitudinal direction of the shearer, the position of the rotary table system after moving and the first rotation of the longitudinal direction of the original shearer The distance of the platform system is less than 50m, and the relative position of the first and second rotary table systems in the longitudinal direction of the shearer is determined by the electronic level, and the position coordinates in the entire positioning and positioning system are simultaneously converted;
    (6)系统继续工作，循环执行步骤(2)-(5)，采煤机控制中心实时获取采煤机的位姿信息。 (6) The system continues to work, and steps (2)-(5) are executed cyclically, and the shearer control center obtains the position and posture information of the shearer in real time.
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